/********************************************************************************
 * Copyright 2017 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_PROXIMITYSTRATEGIES_PROXIMITYSTRATEGYPLUGIN_HPP_
#define RWLIBS_PROXIMITYSTRATEGIES_PROXIMITYSTRATEGYPLUGIN_HPP_

/**
 * @file ProximityStrategyPlugin.hpp
 *
 * \copydoc rwlibs::proximitystrategies::ProximityStrategyPlugin
 */

#include <rw/core/Extension.hpp>
#include <rw/core/Plugin.hpp>

namespace rwlibs { namespace proximitystrategies {
    //! @addtogroup proximitystrategies

    //! @{
    /**
     * @brief A plugin providing proximity strategies for RobWork.
     *
     * The following extensions are added with the use of this plugin (if RobWork is configured to
     * use them):
     *  - Bullet - rwlibs::proximitystrategies::ProximityStrategyBullet - Bullet Physics
     *  - FCL - rwlibs::proximitystrategies::ProximityStrategyFCL - Flexible Collision Library
     *  - PQP - rwlibs::proximitystrategies::ProximityStrategyPQP - Proximity Query Package
     *  - Yaobi - rwlibs::proximitystrategies::ProximityStrategyYaobi - Yaobi
     */
    class ProximityStrategyPlugin : public rw::core::Plugin
    {
      public:
        //! @brief Construct new plugin
        ProximityStrategyPlugin ();

        //! @brief Destructor
        virtual ~ProximityStrategyPlugin ();

        //! @copydoc rw::core::Plugin::getExtensionDescriptors
        std::vector< rw::core::Extension::Descriptor > getExtensionDescriptors ();

        //! @copydoc rw::core::Plugin::makeExtension
        rw::core::Ptr< rw::core::Extension > makeExtension (const std::string& id);

        //! @brief Register the plugins extensions in the rw::core::ExtensionRegistry.
        static void registerPlugin ();
    };
    //! @}
}}    // namespace rwlibs::proximitystrategies

#endif /* RWLIBS_PROXIMITYSTRATEGIES_PROXIMITYSTRATEGYPLUGIN_HPP_ */
